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31. 发明申请

US20110196199A1 METHOD AND SYSTEM FOR AUTOMATICALLY MAINTAINING AN OPERATOR SELECTED ROLL ORIENTATION AT A DISTAL TIP OF A ROBOTIC ENDOSCOPE 有权
标题翻译：方法和系统，用于自动维护操作者选择的滚动方位在机器人内窥镜的远程提示
公开(公告)号：US20110196199A1
公开(公告)日：2011-08-11
申请号：US13013918
申请日：2011-01-26
申请人： Caitlin Q. Donhowe , Giuseppe Maria Prisco
发明人： Caitlin Q. Donhowe , Giuseppe Maria Prisco
IPC分类号： A61B1/00
CPC分类号： A61B1/0055 , A61B1/00147 , A61B1/0051 , A61B5/065 , A61B2034/2061
摘要： In a robotic endoscope system, the orientation of a captured camera view at a distal tip of a robotic endoscope and displayed on a screen viewable by an operator of the endoscope is automatically maintained at a roll orientation associated with a setpoint so as not to disorient the operator as the endoscope is moved, flexed and its tip turned in different orientations. A processor generates a current commanded state of the tip from operator input and modifies it to maintain the setpoint roll orientation. To generate the modified current commanded state, the current commanded roll position and velocity are constrained to be a modified current commanded roll position and velocity that have been modified according to a roll angular adjustment indicated by a prior process period commanded state of the tip and the setpoint. The processor then commands the robotic endoscope to be driven to the modified commanded state.
摘要翻译：在机器人内窥镜系统中，在机器人内窥镜的远端的被捕获的摄像机视图的方向被显示在由内窥镜的操作者可视的屏幕上被自动地保持在与设定点相关的卷取向，以便不会使当内窥镜被移动，弯曲并且其尖端以不同的方向转动时。处理器从操作员输入产生尖端的当前命令状态并对其进行修改以保持设定点滚动方向。为了产生修改的电流指令状态，当前指令的滚动位置和速度被限制为根据由尖端的先前处理周期指令状态指示的滚动角度调整而修改的修改的电流指令滚动位置和速度，并且设定点。然后处理器命令机器人内窥镜被驱动到修改的命令状态。

32. 发明申请

US20110113852A1 OPTICAL FIBER SHAPE SENSOR CALIBRATION 有权
标题翻译：光纤形状传感器校准
公开(公告)号：US20110113852A1
公开(公告)日：2011-05-19
申请号：US12618000
申请日：2009-11-13
申请人： Giuseppe Maria Prisco
发明人： Giuseppe Maria Prisco
IPC分类号： G01L25/00 , G02B6/04
CPC分类号： G01B11/18 , A61B34/20 , A61B34/30 , A61B2017/00331 , A61B2017/00725 , A61B2017/2908 , A61B2017/2927 , A61B2034/102 , A61B2034/2061 , A61B2034/2065 , A61B2034/306 , A61B2090/064 , G01B21/042
摘要： Calibration methods and apparatuses for a shape sensing optical fiber are disclosed. Strain is sensed in an optical fiber that is associated with a kinematic chain, and information derived from the sensed strain is used to determine a calibration relationship between the fiber and the kinematic chain. The strain may be sensed at a plurality of angles between two links in the kinematic chain. The strain may be sensed in a segment of the optical fiber that is associated with a joint in the kinematic chain as the joint sweeps through an arc. The strain may be sensed for the optical fiber in a known, predefined bend shape. The calibration information is stored in memory for later use during operation of the kinematic chain, so that shape information from the optical fiber can be used to accurately indicate the shape or pose of the kinematic chain.
摘要翻译：公开了用于形状感测光纤的校准方法和装置。在与运动链相关联的光纤中感测到应变，并且使用从感测到的应变导出的信息来确定光纤和运动链之间的校准关系。可以在运动链中的两个链节之间以多个角度感测该应变。当连接件扫过电弧时，该应变可以在与光学链中的关节相关联的光纤的段中感测到。可以以已知的预定弯曲形状感测光纤的应变。校准信息存储在存储器中，供运动链操作期间使用，从而可以使用来自光纤的形状信息来准确地指示运动链的形状或姿态。

33. 发明申请

US20110082365A1 LATERALLY FENESTRATED CANNULA 有权
标题翻译：侧卧式肛门
公开(公告)号：US20110082365A1
公开(公告)日：2011-04-07
申请号：US12571675
申请日：2009-10-01
申请人： Anthony McGrogan , Paul Lilagan , Giuseppe Maria Prisco
发明人： Anthony McGrogan , Paul Lilagan , Giuseppe Maria Prisco
IPC分类号： A61B5/05
CPC分类号： A61B1/00154 , A61B1/313 , A61B17/3421 , A61B34/30 , A61B2017/003 , A61B2017/3445 , A61B2017/3449 , A61B2034/302
摘要： A cannula provides access to a surgical site for a camera instrument and one or more minimally invasive surgical instruments. The cannula may include a curved or flexible section when used with flexible surgical instruments. A service port is defined in a sidewall between proximal and distal ends of the cannula, the service port being large enough to allow an object to be transferred between the instruments and a location outside the cannula. An end effector of the surgical instrument may be positioned within the cannula adjacent the service port. The camera instrument may be positioned to place the end effector within a field of view of the camera. An object may be transferred between a service instrument and the surgical instrument within the field of view of the camera.
摘要翻译：插管提供对于照相机仪器和一个或多个微创手术器械的手术部位的通路。当与柔性手术器械一起使用时，插管可以包括弯曲或柔性部分。服务端口被限定在套管的近端和远端之间的侧壁中，服务端口足够大以允许物体在器械之间传送并且在插管外部的位置。手术器械的末端执行器可以定位在邻近服务端口的插管内。相机仪器可以被定位成将末端执行器放置在相机的视场内。物体可以在照相机的视野内在服务仪器和外科器械之间传送。

34. 发明申请

US20110071544A1 CURVED CANNULA INSTRUMENT 有权
标题翻译：弯曲肛门仪器
公开(公告)号：US20110071544A1
公开(公告)日：2011-03-24
申请号：US12618608
申请日：2009-11-13
申请人： JOHN RYAN STEGER , Craig R. Gerbi , Giuseppe Maria Prisco , Theodore W. Rogers
发明人： JOHN RYAN STEGER , Craig R. Gerbi , Giuseppe Maria Prisco , Theodore W. Rogers
IPC分类号： A61B19/00
CPC分类号： A61B17/0218 , A61B1/00149 , A61B1/00193 , A61B1/313 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3462 , A61B17/3474 , A61B17/3498 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/73 , A61B34/76 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00473 , A61B2017/00526 , A61B2017/00845 , A61B2017/0419 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/2948 , A61B2017/3419 , A61B2017/3429 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61M25/0041 , A61M25/0105 , Y10T29/49826
摘要： A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. Force isolation elements within the flexible shafts prevent shaft bending from affecting end effector actuation elements that extends through the shafts. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
摘要翻译：机器人手术系统配置有刚性的弯曲插管，其穿过相同的开口延伸到患者体内。具有被动柔性轴的手术器械延伸穿过弯曲的插管。柔性轴内的力隔离元件防止轴弯曲影响延伸穿过轴的端部执行器致动元件。插管被定向以将器械引导到外科手术部位。公开了支撑单个开口内的弯曲插管的各种端口特征。公开了在插入单个开口期间支撑插管并且安装到机器人操纵器的插管支撑固定装置。公开了一种远程操作控制系统，其以允许外科医生体验直观控制的方式移动弯曲插管及其相关联的器械。

35. 发明授权

US09339342B2 Instrument interface 有权
标题翻译：仪器界面
公开(公告)号：US09339342B2
公开(公告)日：2016-05-17
申请号：US13360395
申请日：2012-01-27
申请人： Giuseppe Maria Prisco , Theodore W. Rogers , John Ryan Steger
发明人： Giuseppe Maria Prisco , Theodore W. Rogers , John Ryan Steger
IPC分类号： A61B17/00 , A61B19/00
CPC分类号： A61B17/00 , A61B34/30 , A61B34/71 , A61B46/10 , A61B2017/00398 , A61B2017/00473 , A61B2017/00477 , A61B2034/2059
摘要： A mechanical interface for a robotic medical instrument permits engagement of the instrument and a drive system without causing movement of an actuated portion of the instrument. An instrument interface can include a symmetrical, tapered or cylindrical projection on one of a medical instrument or a drive system and a complementary bore in the other of the drive system or the medical instrument. Symmetry of the projection and the bore allows the projection to be compression fit to the bore regardless of the rotation angle of the drive system relative to the medical instrument.
摘要翻译：用于机器人医疗器械的机械接口允许仪器和驱动系统的接合而不引起仪器的致动部分的移动。仪器接口可以包括在医疗器械或驱动系统之一上的对称的，锥形的或圆柱形的突出物，以及另一个驱动系统或医疗器械中的互补孔。突起和孔的对称性允许突起被压配合到孔，而与驱动系统相对于医疗器械的旋转角度无关。

36. 发明授权

US09259289B2 Estimation of a position and orientation of a frame used in controlling movement of a tool 有权
标题翻译：用于控制工具运动的框架的位置和方向的估计
公开(公告)号：US09259289B2
公开(公告)日：2016-02-16
申请号：US13360380
申请日：2012-01-27
申请人： Tao Zhao , Giuseppe Maria Prisco , John Ryan Steger , David Q. Larkin
发明人： Tao Zhao , Giuseppe Maria Prisco , John Ryan Steger , David Q. Larkin
IPC分类号： B25J13/08 , A61B19/00 , B25J9/16
CPC分类号： A61B34/30 , A61B34/37 , A61B90/361 , A61B2034/2065 , B25J9/1689 , B25J9/1697
摘要： A robotic system includes a camera having an image frame whose position and orientation relative to a fixed frame is determinable through one or more image frame transforms, a tool disposed within a field of view of the camera and having a tool frame whose position and orientation relative to the fixed frame is determinable through one or more tool frame transforms, and at least one processor programmed to identify pose indicating points of the tool from one or more camera captured images, determine an estimated transform for an unknown one of the image and tool frame transforms using the identified pose indicating points and known ones of the image and tool frame transforms, update a master-to-tool transform using the estimated and known ones of the image and tool frame transforms, and command movement of the tool in response to movement of a master using the updated master-to-tool transform.
摘要翻译：机器人系统包括具有图像帧的照相机，其相对于固定帧的位置和取向可通过一个或多个图像帧变换来确定，工具设置在照相机的视野内，并且具有工具框架，其位置和取向相对通过一个或多个工具框架变换可以确定固定框架，并且至少一个处理器被编程为从一个或多个摄像机捕获的图像识别工具的姿势指示点，确定图像和工具框架中的未知图像的估计变换使用所识别的姿势指示点和已知的图像和工具帧变换来变换，使用估计和已知的图像和工具帧变换来更新主对工具变换，以及响应于移动的工具的命令移动的主人使用更新的主对工具变换。

37. 发明授权

US09101379B2 Tension control in actuation of multi-joint medical instruments 有权
标题翻译：多联合医疗器械致动中的张力控制
公开(公告)号：US09101379B2
公开(公告)日：2015-08-11
申请号：US12945734
申请日：2010-11-12
申请人： Samuel Kwok Wai Au , Giuseppe Maria Prisco
发明人： Samuel Kwok Wai Au , Giuseppe Maria Prisco
IPC分类号： A61B17/00 , A61B19/00
CPC分类号： A61B34/30 , A61B2034/301 , A61B2034/306 , A61B2034/715
摘要： Control systems and methods for a medical instrument use measurements to determine and control the tensions that actuators apply through instrument transmission systems. The use of tension and feedback allows control of a medical instrument having transmission systems that provide non-negligible compliance between joints and actuators even when the positions of joints cannot be directly related to actuator positions. One embodiment determines joint torques and tensions from differences between desired and measured joint positions. Another embodiment determines joint torques and tensions from differences between desired and measured positions of a tip of the instrument. Determination of tensions from joint torques can be performed using sequential evaluation of joints in an order from a distal end of the instrument toward a proximal end of the instrument.
摘要翻译：用于医疗仪器的控制系统和方法使用测量来确定和控制致动器通过仪器传输系统应用的张力。张力和反馈的使用允许控制具有传动系统的医疗仪器，即使关节的位置不能直接与致动器位置相关，也能在关节和致动器之间提供不可忽视的顺应性。一个实施例从期望和测量的关节位置之间的差异确定关节扭矩和张力。另一个实施例由仪器的尖端的期望和测量位置之间的差异确定关节扭矩和张力。可以通过从仪器的远端朝向仪器的近端的顺序对接头进行顺序评估来确定关节扭矩的张力。

38. 发明授权

US08888789B2 Curved cannula surgical system control 有权
标题翻译：曲线套管手术系统控制
公开(公告)号：US08888789B2
公开(公告)日：2014-11-18
申请号：US12618598
申请日：2009-11-13
申请人： Giuseppe Maria Prisco , Samuel Au
发明人： Giuseppe Maria Prisco , Samuel Au
IPC分类号： A61B19/00 , A61B17/02 , A61M25/00 , A61B1/00 , A61M25/01 , A61B1/313 , A61B17/34 , A61B17/29 , A61B17/00 , A61B17/04
CPC分类号： A61B34/37 , A61B1/00149 , A61B1/00193 , A61B1/313 , A61B17/0218 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3462 , A61B17/3474 , A61B17/3498 , A61B34/10 , A61B34/30 , A61B34/71 , A61B34/73 , A61B34/76 , A61B90/03 , A61B90/37 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00473 , A61B2017/00526 , A61B2017/00845 , A61B2017/0419 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/2948 , A61B2017/3419 , A61B2017/3429 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61M25/0041 , A61M25/0105 , Y10S901/00
摘要： A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed. The flexible shaft instruments are controlled as if extending along a virtual straight line insertion and withdrawal axis. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed.
摘要翻译：机器人手术系统配置有刚性的弯曲插管，其穿过相同的开口延伸到患者体内。具有被动柔性轴的手术器械延伸穿过弯曲的插管。插管被定向以将器械引导到外科手术部位。公开了一种远程操作控制系统，其以允许外科医生体验直观控制的方式移动弯曲插管及其相关联的器械。柔性轴仪器被控制好像沿着虚拟直线插入和退出轴线延伸。公开了支撑单个开口内的弯曲插管的各种端口特征。公开了在插入单个开口期间支撑插管并且安装到机器人操纵器的插管支撑固定装置。

39. 发明授权

US08827934B2 Method and system for determining information of extrema during expansion and contraction cycles of an object 有权
标题翻译：用于确定物体伸缩周期的极值信息的方法和系统
公开(公告)号：US08827934B2
公开(公告)日：2014-09-09
申请号：US13297066
申请日：2011-11-15
申请人： Prashant Chopra , Caitlin Q. Donhowe , Vincent Duindam , Giuseppe Maria Prisco
发明人： Prashant Chopra , Caitlin Q. Donhowe , Vincent Duindam , Giuseppe Maria Prisco
IPC分类号： A61B5/00
CPC分类号： A61B1/0005 , A61B1/00154 , A61B1/0051 , A61B5/065 , A61B5/1076 , A61B34/20 , A61B2017/00699 , A61B2034/2061 , A61B2090/3614
摘要： A medical system provides navigation assistance to a surgeon for navigating a flexible medical device through linked passages of an anatomical structure to a target area. For tracking, navigation, and other purposes, information of extrema is determined during expansion and contraction cycles of an object by receiving time sampled information from sensors distributed along a length of a flexible device so as to indicate the shape of the device over time while the device extends through a lumen of the object so as to conform to and resemble the shape of the lumen, displacements over time of a selected point at a selected insertion length of the flexible device into the lumen of the object relative to a reference point are determined, extrema time points are determined by identifying sign changes of the slope of the determined displacements over time, and extrema types are determined using extrema type characteristics.
摘要翻译：医疗系统为外科医生提供导航辅助，用于通过解剖结构的连接通道将柔性医疗装置导航到目标区域。为了跟踪，导航和其他目的，通过从沿着柔性装置的长度分布的传感器接收时间采样信息来确定对象的扩展和收缩周期中的极值信息，以便随着时间而指示装置的形状装置延伸穿过物体的内腔以便符合并类似于内腔的形状，确定随着柔性装置的选定插入长度的选定点的时间相对于参考点的位移到物体的内腔中的位移通过识别确定的位移随时间的斜率的符号变化来确定极值时间点，并且使用极值类型特征来确定极值类型。

40. 发明授权

US08801601B2 Method and system for providing visual guidance to an operator for steering a tip of an endoscopic device toward one or more landmarks in a patient 有权
标题翻译：用于向操作者提供视觉指导以将内窥镜装置的尖端转向患者体内的一个或多个界标的方法和系统
公开(公告)号：US08801601B2
公开(公告)日：2014-08-12
申请号：US13678917
申请日：2012-11-16
申请人： Giuseppe Maria Prisco , Vincent Duindam
发明人： Giuseppe Maria Prisco , Vincent Duindam
IPC分类号： A61B1/04 , A61B5/05
CPC分类号： A61B5/066 , A61B1/00009 , A61B1/0002 , A61B1/00045 , A61B1/0005 , A61B1/00055 , A61B1/00147 , A61B1/0016 , A61B1/00165 , A61B1/00193 , A61B1/0051 , A61B1/01 , A61B1/05 , A61B1/273 , A61B2034/2061
摘要： Landmark directional guidance is provided to an operator of an endoscopic device by displaying graphical representations of vectors adjacent a current image captured by an image capturing device disposed at a tip of the endoscopic device and being displayed at the time on a display screen, wherein the graphical representations of the vectors point in directions that the endoscope tip is to be steered in order to move towards associated landmarks such as anatomic structures in a patient.
摘要翻译：通过显示邻近由设置在内窥镜装置的尖端处的图像捕获装置拍摄的当前图像的矢量的向量的图形表示并且在此时显示在显示屏幕上，向内窥镜装置的操作者提供地标方向引导，其中图形矢量的表示指向内窥镜尖端要转向以朝向相关联的标志（例如患者的解剖结构）移动的方向。

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